/bi-robot-setup

Primary LanguageMATLAB

README

The is the README file for the BROS software.

Software components

The software for the BROS setup consists out of 3 main components:

  • MATLAB R2016B (9.1) & Simulink 8.8 (models), win64
  • TwinCAT 3 (RT software)
  • openFrameWorks (GUI & experiment backbone)

In case any MATLAB functions are called outside of the model, you can use MATLAB R2015B (win32) for compiling a shared DLL, which can be called from C/C++.

How do I get set up?

  1. Install MATLAB R2016B (including Simulink 8.8), both 64 bit versions.
  2. Install Visual studio (2013 professional is what I use), TwinCAT XAE and the Simulink plugin, see the Symbitron website wiki and Bitbucket repo for more details.
  3. Install Visual Studio 2015 (community) and openFrameworks using their setup guide.

The openFrameworks GUI and experiment backbone talk to the TwinCAT RT model through the ADS. Since the ADS dll is only available in a 32bit version, compile only in 32bit (win32 configuration, default). If you'd like to call any MATLAB functionality (like an optimization routine), compile the DLL in MATLAB R2015B (win32). See the wiki for more info!

Edit Unfortunately the 2015b win32 version of MATLAB does not support the Parallel Computing Toolbox, so we decided to move to a MATLAB script which is running on an instance of MATLAB 2016b (win64). Communication between the experiment app and MATLAB is through XML files.

Who do I talk to?

Niek Beckers: niekbeckers using Google's mail